Sliding Mode Controller for Positioning of an Underwater Vehicle Subject to Disturbances and Time Delays
Harun Tugal,Kamil Cetin,Xiaoran Han,Ibrahim Kucukdemiral,Joshua Roe,Yvan Petillot,M. Suphi Erden,Harun Tugal,Kamil Cetin,Xiaoran Han,Ibrahim Kucukdemiral,Joshua Roe,Yvan Petillot,M. Suphi Erden
Unmanned underwater vehicles are crucial for deep-sea exploration and inspection without imposing any danger to human life due to extreme environmental conditions. But, designing a robust controller that can cope with model uncertainties, external disturbances, and time delays for such vehicles is a challenge. This paper implements a sliding mode position control algorithm with a time-delay estima...
